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I’m Bobby Leary, a Mechanical Engineer in the robotics and autonomous vehicle field working at ISEE as a Staff Software Engineer - Tech Lead of Mapping. I received my PhD in 2019 from Penn State University working in the Intelligent Vehicles & Systems Group.

My graduate research focused on autonomous vehicle state estimation and environment perception. I’ve developed methods to estimate the full six degree-of-freedom pose of a vehicle at over 100 Hz using a map and monocular vision, created sparse map databases (SQL) of location-specific lane marker features from LiDAR scans, and designed and built a custom road mapping vehicle. If you are interested in my work, please check out my publication list below.

You can contact me through email, or follow me on Twitter, Instagram, or LinkedIn.

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Estimating the pose of a vehicle

Detecting the lane center and boundaries from LiDAR

Conference Publications

2021

Statistical Determination of Decision-Making Regions for Branching Paths: An Algorithm With a Wheelchair Assistance Application
K. Wolkowicz, R. Leary, J. Moore, S. Brennan
2021 ASME Letters in Dynamic Systems and Control
ROS Integration of External Vehicle Motion Simulations with an AIMSUN Traffic Simulator as a Tool to Assess CAV Impacts on Traffic
L. Gao, W. Bai, R. Leary, K. Varadarajan, S. Brennan
Proceedings of the 2021 Modeling, Estimation and Control Conference

2019

Analyzing the Effects of Geometric Lane Constraints on RADAR-based Sensing of Available Vehicle Headway using Mapped Lane Geometry and Camera Registration of Lane Position
K. Varadarajan, R. Leary, E. Pelletier, M. Wahba, S. Brennan
Proceedings of the ASME 2019 Dynamic Systems and Control Conference
Real-time Path-based Fusion of Spatial Databases with Temporal Control Inputs for Assistive Operation of Wheelchairs
K. Wolkowicz, R. Leary, J. Moore, S. Brennan
Proceedings of the ASME 2019 Dynamic Systems and Control Conference
Statistical Determination of Decision-Making Regions for Branching Paths: An Algorithm With A Wheelchair Assistance Application
K. Wolkowicz, R. Leary, J. Moore, S. Brennan
Proceedings of the ASME 2019 Dynamic Systems and Control Conference

2018

Region of Attraction of a Real-time Vehicle Pose Estimator Using Monocular Vision Lane Marker Maps
R. Leary, S. Brennan
Proceedings of the 14th International Symposium on Advanced Vehicle Control
Extracting Geometric Road Centerline and Lane Edges From Single-scan LiDAR Intensity Using Optimally Filtered Extrema Features
R. Leary, S. Brennan
Proceedings of the IEEE 2018 Conference on Control Technology and Applications
Discriminating Spatial Intent from Noisy Joystick Signals for Wheelchair Path Planning and Guidance
K. Wolkowicz, R. Leary, J. Moore, S. Brennan
Proceedings of the ASME 2018 Dynamic Systems and Control Conference

2016

Region of Attraction for a Vehicle Pose Estimator Utilizing Monocular Vision and Lane Marker Maps
R. Leary, S. Brennan
Proceedings of the ASME 2016 Dynamic Systems and Control Conference
A ROS-Simulink Real-Time Communication Bridge using UDP with a Driver-in-the-Loop Application
M. Wahba, R. Leary, N. Ochoa-Lleras, J. Safi, S. Brennan
Proceedings of the ASME 2016 Dynamic Systems and Control Conference
Characterizing Successful Robotic Insertion and Removal from a Dry Storage Cask: Using Peg-like Jamming and Wedging Analysis
B. McNelly, R. Leary, K. Reichard, S. Brennan
Proceedings of the ASME 2016 Pressure Vessels and Piping Conference
Robotic Inspection of Dry Storage Casks for Spent Nuclear Fuel
C.J. Lissenden, S. Choi, H. Cho, A. Motta, K. Hartig, X. Xiao, S. Le Berre, S. Brennan, K. Reichard, R. Leary, B. McNelly
Proceedings of the ASME 2016 Pressure Vessels and Piping Conference
Toward Robotic Inspection Of Dry Storage Casks For Spent Nuclear Fuel
C.J. Lissenden, S. Choi, H. Cho, A. Motta, K. Hartig, X. Xiao, S. Le Berre, S. Brennan, K. Reichard, R. Leary, B. McNelly
Proceedings of the ASME 2016 Pressure Vessels Technology

2015

Vehicle Rollover Prevention Using the Zero-Moment Point in an LQR Output Regulator
P. Stankiewicz, N. Ochoa-Lleras, R. Leary, S. Brennan
Proceedings of the ASME 2015 Dynamic Systems and Control Conference

Dissertation

Map-based Vehicle State Estimation Using A Spatiotemporal Preview Filter

Masters Thesis

Real-time Vehicle Pose Estimation Utilizing Monocular Vision and Lane Marker Maps

News

Larson Transportation Institute hosts second graders for hands-on STEM - 19 Mar 2018

The road to reality of autonomous vehicles - 15 Sept 2017